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機(jī)器人化多功能護(hù)理床研究與探討
翻譯人 xxx
摘要：人性化設(shè)計(jì)是現(xiàn)代設(shè)計(jì)的一個(gè)重要理念,它強(qiáng)調(diào)在設(shè)計(jì)產(chǎn)品時(shí)從人體工學(xué)、生態(tài)學(xué)、美學(xué)等角度達(dá)到完美,體現(xiàn)了科技以人為本的思想。該護(hù)理床的設(shè)計(jì)正是基于這種理念,它不僅能夠?qū)崿F(xiàn)抬背、抬大腿,曲小腿和調(diào)整坐姿的功能,并將設(shè)計(jì)通過(guò)Pro/E三維實(shí)體建模軟件進(jìn)行模擬和仿真分析,進(jìn)一步指導(dǎo)和驗(yàn)證設(shè)計(jì)的合理性。為滿足目前日益提高的家庭護(hù)理要求，將機(jī)器人的多軸協(xié)調(diào)控制技術(shù)應(yīng)用于護(hù)理床的控制，研制了一種機(jī)器人化的多功能護(hù)理床．該護(hù)理床通過(guò)各個(gè)床面板之間的協(xié)調(diào)運(yùn)動(dòng)，采用單動(dòng)或聯(lián)動(dòng)方式來(lái)實(shí)現(xiàn)各種位姿，并通過(guò)語(yǔ)音或鍵盤(pán)來(lái)控制進(jìn)行多位姿的運(yùn)動(dòng)．護(hù)理床的控制系統(tǒng)由主控制模塊和輔助控制模塊兩部分構(gòu)成．其中主控制模塊采用單片機(jī)進(jìn)行控制，這樣既可降低成本，又可保證護(hù)理床操作的靈活性和可靠性；輔助控制模塊包括語(yǔ)音識(shí)別和語(yǔ)音回放兩部分的功能．實(shí)際使用效果證明了所研制的護(hù)理床的實(shí)用性和有效性．本文由醫(yī)學(xué)論文網(wǎng)與您分享！
關(guān)鍵詞：機(jī)器人化護(hù)理床；控制系統(tǒng)；語(yǔ)音識(shí)剮；單片機(jī)
概述：目前，無(wú)論是發(fā)達(dá)國(guó)家還是發(fā)展中國(guó)家，均面臨著越來(lái)越嚴(yán)重的人口老齡化問(wèn)題。老年人由于各項(xiàng)生理機(jī)能退化，健康狀況普遍不佳，消耗大量醫(yī)療資源，增加了醫(yī)院的負(fù)擔(dān)。世界各國(guó)均在積極探求一種新的健康服務(wù)模式，提供更高質(zhì)量、更可靠、更容易被接受且成本低廉的健康服務(wù)。因此現(xiàn)代遠(yuǎn)程監(jiān)護(hù)系統(tǒng)的構(gòu)建，具有很好的發(fā)展前景。本文研究了一種面向社區(qū)的基于機(jī)器人化多功能式智能健康監(jiān)護(hù)系統(tǒng)，用來(lái)對(duì)病人的生理參數(shù)進(jìn)行連續(xù)、長(zhǎng)時(shí)間、自動(dòng)、實(shí)時(shí)檢測(cè)，并經(jīng)分析、處理后實(shí)現(xiàn)多類別自動(dòng)報(bào)警、自動(dòng)記錄，而且可以通過(guò)網(wǎng)絡(luò)遠(yuǎn)程監(jiān)護(hù)便于醫(yī)護(hù)人員及時(shí)發(fā)現(xiàn)病人的病情變化，隨時(shí)采取必要的護(hù)理與急救措施。隨著社會(huì)經(jīng)濟(jì)的迅速發(fā)展，人民生活水平不斷提高，人口壽命不斷延長(zhǎng)，城市人口正逐步進(jìn)入老齡化．據(jù)統(tǒng)計(jì)，在我國(guó)現(xiàn)有人口中，老齡人口達(dá)1．32億，并且還在以每年3．2％的速度遞增．其中空巢家庭占所有老齡家庭總數(shù)的25 8％，在一些大城市中該比例更大，如北京為34％，上海為34．8％，廣州為30％，天津?yàn)?6．5％“o．人口的老齡化對(duì)社會(huì)醫(yī)療服務(wù)體系提出了更高的要求，建立以社區(qū)為核心的健康監(jiān)控和疾病預(yù)控信息化系統(tǒng)具有很大的現(xiàn)實(shí)意義”o．老年人由于年齡偏大，肌體的活性逐漸降低，對(duì)疾病的抵抗力日益減弱，且疾病多以慢性病為主．對(duì)于慢性病人和癱瘓病人而言，除了配合藥物和針劑的治療外，物理方式的護(hù)理也必不可少．正確、適當(dāng)?shù)淖o(hù)理可以大大增強(qiáng)患者肌體的活性，減少并發(fā)癥的產(chǎn)生．對(duì)于許多慢性病患者而言，通過(guò)定期服藥、適當(dāng)監(jiān)護(hù)和正確護(hù)理，可以不必長(zhǎng)期住院．特別是對(duì)那些因種種原因不可能長(zhǎng)期住院治療的患者、老年人和殘疾人士而言，配置必要的護(hù)理設(shè)備和用具尤為重要“。．相比于普通人，慢性病人、癱瘓病人和殘疾人士的臥床時(shí)間更長(zhǎng)、更久，因此開(kāi)發(fā)一種舒適、護(hù)理功能齊全、性價(jià)比高的護(hù)理床，將具有廣闊的市場(chǎng)前景”?．目前，我國(guó)正著力于建設(shè)社區(qū)公共衛(wèi)生服務(wù)體系，如果將所開(kāi)發(fā)的護(hù)理床與社區(qū)、醫(yī)院醫(yī)療體系連接，實(shí)現(xiàn)醫(yī)療、護(hù)理、健康監(jiān)護(hù)、醫(yī)療救治、疾病預(yù)控等的一體化，可大大減輕醫(yī)院的壓力，更為合理、有效地利用現(xiàn)有的醫(yī)院資源”4’．同時(shí)，通過(guò)醫(yī)院、社區(qū)兩種信息化系統(tǒng)的建立和連接，可大大提升我國(guó)應(yīng)對(duì)突發(fā)性公共衛(wèi)生事件的響應(yīng)速度和處理能力．有鑒于此，筆者針對(duì)我國(guó)社會(huì)醫(yī)療服務(wù)的發(fā)展現(xiàn)狀及現(xiàn)實(shí)需求，提出了一種基于機(jī)器人多軸協(xié)調(diào)控制技術(shù)和語(yǔ)音識(shí)別技術(shù)的多功能護(hù)理床的概念，成功研制了一種機(jī)器人化的多功能護(hù)理床，并在此基礎(chǔ)上研制了一套基于該護(hù)理床的社醫(yī)監(jiān)護(hù)系統(tǒng)．本文主要對(duì)該機(jī)器人化護(hù)理床的結(jié)構(gòu)及控制系統(tǒng)進(jìn)行探討．
圖一 常用的護(hù)理床結(jié)構(gòu)
1 機(jī)器人化護(hù)理床的結(jié)構(gòu)
在進(jìn)行機(jī)器人化護(hù)理床的結(jié)構(gòu)設(shè)計(jì)時(shí)，主要考慮了以下兒點(diǎn)：(1)護(hù)理床應(yīng)能夠?qū)崿F(xiàn)護(hù)理所需的各種體位的位姿要求；(2)各個(gè)活動(dòng)床面板的擺動(dòng)角度應(yīng)符合醫(yī)療護(hù)理要求并兼顧人體的舒適性；(3)護(hù)理床床體的可靠性、穩(wěn)定性和安全性要符合醫(yī)療護(hù)理要求；(4)床體的尺寸有一定的空間范圍限制；(5)要考慮護(hù)理床在房間內(nèi)移動(dòng)的簡(jiǎn)易性以及醫(yī)護(hù)輔助裝置(如吊液架和書(shū)飯桌)在護(hù)理床f：的可安裝性．所研制的機(jī)器人化護(hù)理床的床面結(jié)構(gòu)如圖1所示，它實(shí)現(xiàn)J，對(duì)護(hù)理床的7個(gè)基本體位的位姿的要求，即平躺、抬背、屈／伸腿、抬腿、左／右翻身、坐起以及解便，7個(gè)面板是相互獨(dú)立的．通過(guò)各個(gè)床面板之間的協(xié)調(diào)運(yùn)動(dòng)，采用單動(dòng)或聯(lián)動(dòng)方式來(lái)實(shí)現(xiàn)護(hù)理床所需的各種體位的位姿．護(hù)理床的位姿與相應(yīng)的床面板動(dòng)作如表l所示．各床面板的擺動(dòng)角度如下：背板(坐姿)，o。一十750；背板(左／右翻身)，o?！?65。；左／右臀部板，O?！?75。；大腿板，o。一+35。；小腿板，一55 o～+35。；解便蓋板，O。一+90。．2機(jī)器人化護(hù)理床的控制系統(tǒng)為了便于對(duì)護(hù)理床進(jìn)行智能控制，及時(shí)r解護(hù)理床的當(dāng)前工作狀態(tài)，律護(hù)理床的脒身上需安置必要數(shù)目的傳感器”?．通過(guò)分析傳感器傳輸來(lái)的數(shù)據(jù)，控制系統(tǒng)可以實(shí)時(shí)了解、控制床面板的運(yùn)動(dòng)狀態(tài)，防止不同機(jī)構(gòu)問(wèn)的相互干涉或是驅(qū)動(dòng)電機(jī)超調(diào)對(duì)床體、人員造成的不必要傷害．控制系統(tǒng)的總體結(jié)構(gòu)如圖2所示．在床體位姿的控制方式方面，除了采用通行的鍵盤(pán)按鈕輸入方式外，為了方便體弱病殘者，還增加了語(yǔ)音輸人方式+操作者可以通過(guò)語(yǔ)音命令來(lái)操縱護(hù)理床．由于普通類型的控制芯片難以完成語(yǔ)音命令的識(shí)別，岡此將整個(gè)護(hù)理床的控制系統(tǒng)分為兩大模塊．第一部分為主控制模塊，它由一個(gè)單片機(jī)控制系統(tǒng)構(gòu)成，用于實(shí)現(xiàn)護(hù)理床系統(tǒng)的主體控制，包括接受鍵盤(pán)／語(yǔ)音控制命令和傳感器位置信號(hào)的輸入，以及輸出電機(jī)控制信號(hào)等，第二部分為輔助控制模塊，主要進(jìn)行語(yǔ)音的識(shí)別和回放，它將來(lái)自操作者的語(yǔ)音控制命令轉(zhuǎn)化為電信號(hào)，然后經(jīng)過(guò)編碼轉(zhuǎn)換，輸送至主控制模塊，同時(shí)接受來(lái)自主控制模塊的電信號(hào)，將這些控制指令轉(zhuǎn)換為操作者可以理解的聲音信號(hào)．2．1 機(jī)器人化護(hù)理床的主控制模塊主控制模塊在運(yùn)行時(shí)接收來(lái)自鍵盤(pán)／語(yǔ)音識(shí)別電路的電信號(hào)，經(jīng)過(guò)分析處理，將控制信號(hào)通過(guò)外部接口輸送到語(yǔ)音回放電路，由語(yǔ)音回放電路將電信號(hào)轉(zhuǎn)化為聲音信號(hào)，提供語(yǔ)音反饋信號(hào)，使操作者隨時(shí)了解護(hù)理床的實(shí)時(shí)動(dòng)態(tài)；另一方面，主控制模塊根據(jù)各種信號(hào)命令，控制不同的電機(jī)運(yùn)轉(zhuǎn)，從而實(shí)現(xiàn)用戶所期掣的護(hù)理床的功能?．主控制模塊主要包括以下各子功能：
(1)鍵盤(pán)輸入．鍵盤(pán)輸入是護(hù)理床輸入控制命令的途徑之一，由鍵盤(pán)輸人的命令通過(guò)編碼由串口發(fā)送到主控制板．(2)直流電機(jī)的動(dòng)作控制．護(hù)理床在接受鍵盤(pán)或是語(yǔ)音輸入信號(hào)后，便開(kāi)始進(jìn)行相應(yīng)的動(dòng)作以達(dá)到護(hù)理床的預(yù)期功能．這要求主控制板能對(duì)安裝在護(hù)理床上的8個(gè)直流電機(jī)進(jìn)行正反兩方向的動(dòng)作控制．(3)傳感器信號(hào)輸入．位置傳感器將電機(jī)的運(yùn)動(dòng)位置信息反饋給控制系統(tǒng)，控制系統(tǒng)根據(jù)反饋回的信號(hào)判斷電機(jī)的當(dāng)前運(yùn)動(dòng)位置和狀態(tài)，然后調(diào)用對(duì)應(yīng)的程序進(jìn)行運(yùn)動(dòng)控制2．1．1鍵盤(pán)控制電路鍵盤(pán)控制板上除r配備供使用者操作的按鍵外，還配置了顯示護(hù)理床工作狀態(tài)的指示燈．考慮到鍵盤(pán)與主控制板的通信以及主控制板cPu的L／0口資源有限，因此鍵盤(pán)由一塊獨(dú)立的單片機(jī)來(lái)處理各種任務(wù)．由于鍵盤(pán)(2×6)和指示燈(8個(gè))需要占用不少的I／0口資源，而所選用的89c2051單片機(jī)只有15個(gè)L／0口，L／o u資源非常有限，因此在單片機(jī)的L／0口資源分配上，鍵盤(pán)控制板的單片機(jī)與主控制板之間采用串口通信；同時(shí)，考慮到控制電纜有一定的長(zhǎng)度，為增加通信的可靠性，采用了232電平通信，因此在硬件電路上加了一塊MAx232芯片進(jìn)行電平轉(zhuǎn)換．2．1．2直流電機(jī)的控制護(hù)理床的護(hù)理功能是通過(guò)直流電機(jī)來(lái)執(zhí)行的，電機(jī)驅(qū)動(dòng)護(hù)理床來(lái)完成各項(xiàng)動(dòng)作，以實(shí)現(xiàn)各種護(hù)理位姿，包括：(1)背板上抬／下降；(2)左／右翻身板上升／下降；(3)大腿板上升／下降；(4)小腿板上升／下降；(5)便盆蓋板開(kāi)／合；(6)平躺體位實(shí)現(xiàn)／復(fù)位；(7)坐姿體位實(shí)現(xiàn)／復(fù)位；(8)抬腿體位實(shí)現(xiàn)／復(fù)位；(9)屈腿體位實(shí)現(xiàn)／復(fù)位．以上各位姿之間的轉(zhuǎn)換與完成均通過(guò)8個(gè)直流電機(jī)的正反轉(zhuǎn)來(lái)實(shí)現(xiàn)，因此主控制板必須能夠在接收命令后對(duì)8個(gè)直流電機(jī)進(jìn)行上E反轉(zhuǎn)控制，即能夠?qū)崿F(xiàn)電機(jī)的正反向通電控制在護(hù)理床的硬件電路設(shè)計(jì)中，對(duì)每一個(gè)電機(jī)都采用了兩個(gè)雙刀雙擲的繼電器進(jìn)行通斷電控制．2．2機(jī)器人化護(hù)理床的輔助控制模塊2．2．1語(yǔ)音識(shí)別語(yǔ)音控制技術(shù)是現(xiàn)有各種控制方式中的一種高級(jí)控制方式，它具有控制方式自然、方便，親和力好，適用范圍廣的特點(diǎn)．將語(yǔ)音控制技術(shù)引入到護(hù)理床的控制之中，將極大地方便使用者，尤其對(duì)于那些喪失或部分喪失活動(dòng)、自理能力的患者而占，語(yǔ)音控制可以幫助他們?cè)鰪?qiáng)自信心，減輕對(duì)他人的依賴，增添生活的勇氣和信心．針對(duì)護(hù)理床使用者的語(yǔ)音輸入命令的特點(diǎn)，研究中使用了美閏sENsORY公司的RSc364語(yǔ)音芯片作為識(shí)別核心芯片。Rsc364芯片通過(guò)訓(xùn)練而實(shí)現(xiàn)語(yǔ)音識(shí)別功能，系統(tǒng)的L／o電平是TrL電平，可以方便地與其他系統(tǒng)進(jìn)行數(shù)據(jù)傳輸．Rsc364芯片內(nèi)部集成了語(yǔ)音識(shí)別所需的多種功能，它能夠完成語(yǔ)音識(shí)別過(guò)程中的反混疊低通濾波、采樣／保持、A／D轉(zhuǎn)換以及語(yǔ)音記錄等功能Rsc364芯片在完成語(yǔ)音識(shí)別任務(wù)后，將語(yǔ)音控制信號(hào)通過(guò)芯片輸出到單片機(jī)的Po和P1口．根據(jù)PSc364的輸出狀態(tài)，在主控制板與語(yǔ)音識(shí)別芯片之間采用一片74Lsl48 j籪片來(lái)擴(kuò)展中斷口，語(yǔ)音命令輸入74Lsl48芯片的8個(gè)輸入腳，連接Pl口；Rsc364的擴(kuò)展[J Gs接單片機(jī)的中斷口P3．2；單片機(jī)的P1．o～P1．3口與語(yǔ)音識(shí)別芯片的Po．4～Po．7口相連接．當(dāng)有語(yǔ)音命令輸入時(shí)，P1口巾的一個(gè)輸出低電平，Gs u輸“i的低電平啟動(dòng)單片機(jī)外部中斷，在進(jìn)行單片機(jī)的中斷處理時(shí)從P1．0～P1．3口中讀人數(shù)據(jù)．2．2．2語(yǔ)音回放主控制電路收到命令后，在控制電機(jī)運(yùn)轉(zhuǎn)的同時(shí)，也向語(yǔ)音回放子模塊輸j【j語(yǔ)音控制信號(hào)．由輔助控制模塊向當(dāng)前使用者提供語(yǔ)音反饋．語(yǔ)音同放子模塊的主要作用是：護(hù)理床接收到用戶命令后，在護(hù)理床實(shí)現(xiàn)功能動(dòng)作以前播放相應(yīng)動(dòng)作的語(yǔ)音信息，提醒用戶做好身體準(zhǔn)備，這種人性化設(shè)計(jì)進(jìn)一步提高了護(hù)理床的親和力．語(yǔ)音回放采用IsD4003_08芯片作為主芯片．IsI)4003系列的工作屯壓為3 V，單片錄放時(shí)間為4—8min”?．芯片采用cMOs技術(shù)，內(nèi)含振蕩器、防混淆濾波器、平滑濾波器、音頻放大器、自動(dòng)靜噪及高密度多電平閃爍存貯陣列，操作命令町通過(guò)串行通信接口輸人．3機(jī)器人化護(hù)理床的控制程序機(jī)器人化護(hù)理床的控制方式是一種簡(jiǎn)化的機(jī)器人控制方式．系統(tǒng)啟動(dòng)后首先檢測(cè)護(hù)理床的位姿，然后檢測(cè)各個(gè)開(kāi)關(guān)的狀態(tài)，再檢測(cè)各個(gè)按鍵的狀態(tài)，如果其中一個(gè)按鍵按下，則護(hù)理床作相應(yīng)的動(dòng)作，并啟動(dòng)語(yǔ)音回放程序告知操作者，通過(guò)語(yǔ)音識(shí)別進(jìn)行的控制也是一樣，如果語(yǔ)音識(shí)別模塊識(shí)別了，操作者的一個(gè)指令，同樣地，護(hù)理床完成相應(yīng)的動(dòng)作．4結(jié)束語(yǔ)將機(jī)器人的多軸協(xié)調(diào)控制技術(shù)應(yīng)用于護(hù)理床，可對(duì)機(jī)器人化護(hù)理床進(jìn)行有效控制．所研制的機(jī)器人化護(hù)理床的如圖4所示，它可以實(shí)現(xiàn)多個(gè)位姿的調(diào)整，并采用語(yǔ)音命令和鍵盤(pán)輸入兩種方式進(jìn)行控制，簡(jiǎn)便靈活．另外，由于主控制模塊采用r單片機(jī)，使得系統(tǒng)操作靈活可靠，成本低廉．目前所研制的護(hù)理床已在一些醫(yī)院試用，反映良好．今后的研究將集巾在如何進(jìn)一步提高系統(tǒng)的協(xié)調(diào)性和靈活性，拓展系統(tǒng)的人性化功能等方面．
Robotic nanomanipulation multi-function nursing bed research and discussion
Translators XXX
Abstract: the humanized design is an important concept of modern design, it emphasizes ergonomics design products, ecology, from the Angle of aesthetics, which reflects the perfect technological people-oriented thoughts. The nursing bed was based on the idea of design, it can not only realize carried back, lift the thigh, curved crus and adjust sitting position, and the function of Pro/E design through 3d entity modeling software is simulated and simulation analysis, further guidance and the rationality of design are verified. To meet the increasing family care requirements, the robot multiaxial coordinated control technique is applied in nursing bed control, developed a multi-function nursing bed robotic nanomanipulation. This nursing bed through each bed panel coordination between the movement, the single move or linkage ways various pose, and through the voice or keyboard to control the movement than appearance. Nursing bed control system consists of master control module and auxiliary control module two parts. One master control module adopts single-chip microcomputer control, such already can reduce costs, and can ensure the nursing bed operation flexibility and reliability; Auxiliary control modules including speech recognition and voice playback two parts function. The actual usage proved was developed nursing bed. This paper the practicability and effectiveness of medical paper nets to share with you!
Keywords: robotic nanomanipulation nursing bed; Control system; General cut; speech microcontroller
Summary: now, both developed and developing countries are facing more and more serious, the problem of aging population. Old people, the physiological function of degradation due to poor health, generally consumed a lot of medical resources, increase the burden of the hospital. In every country in the world in active seek out new health service mode, providing higher quality, more reliable and more accepting and cheap health services. So the construction of modern distance monitoring system, has the very good prospects for development. This paper studies a community-oriented robotic nanomanipulation based health intelligent monitoring system of multi-function type, of the patient's physiological parameters for continuous, long time, automatic, real-time detection, and the analysis and processing after realizing automatic alarm, automatic recording category, but also through the network for remote monitoring medical personnel the timely discovery of the patient's progress, at any time to take necessary care and emergency measures. With the rapid development of social economy, the people's standard of living rises ceaselessly, life expectancy rising longevity, the city's population is gradually entered the aging. According to statistics, in China's current population 1.32 billion, aging populations reach, and at an annual growth rate of 3.2%. One empty nester family total of all older family in some big cities, 25 8% in the larger ratio, such as Beijing, Shanghai 34% for 30%, guangzhou 34.8% in yesterday, tianjin for "o. the aging of the population of social medical service system put forward higher request, and establish a community as the core of the health monitoring and disease precontrol information system has great practical significance" o. elderly because the older, the body gradually reduce active, resistant to disease has decreased, and the disease in chronic diseases primarily. For chronic disease and paralytic character, besides the treatment with drugs and injection, physical way outside the nursing also indispensable. Correct and appropriate care can greatly enhance the patient's body activity, reduce the complications of chronic disease. For many produced by regular medication, concerned, proper monitoring and correct nursing, need not hospitalizations. Especially for those who long for a variety of reasons impossible patients treated in hospital, the elderly and disabled people speaking, equipped with necessary nursing equipment and utensils particularly important "compared to ordinary people. 癱瘓病, chronic patients, people with disabilities and bed time longer and more long, thus developing a kind of comfortable, nursing complete function, cost-effective nursing bed, will has a broad market prospect"? . At present, China is building community on public health service system, if will development of the nursing bed and community, hospital medical system connection, realize medical and nursing, health care, medical treatment, disease precontrol etc integration, can reduce the pressure, more reasonable hospital, effectively use existing resources for hospital "4". Meanwhile, through the hospitals, communities two information system establishment and connections, can greatly improve our public health event to deal with emergency response speed and processing power. In view of this, according to our social medical service development present situation and the practical demand, put forward a kind of multiaxial coordination based robot control techniques and speech recognition technology is muti_function nursing bed concept, successfully developed the robotic nanomanipulation multi-function nursing bed, and on this basis developed based on the nursing bed medical monitoring system of the club. This article mainly discusses the structure of robotic nanomanipulation nursing bed and control system are discussed.
Graph one common nursing bed structure
1 robotic nanomanipulation nursing bed structure
In the structure of robotic nanomanipulation nursing bed design, the main consideration the following son points: (1) the nursing bed should be able to realize all kinds of the nursing posture pose requirements; (2) all activities of bed panel swing Angle should comply with the medical care for both human comfort; and (3) nursing bed body reliability, stability and safety requirements, should accord with medical care (4) bed body size have certain space limits; (5) to consider nursing bed in the room moving simplicity and medical auxiliary devices (such as hanging liquid frame and book table) in nursing bed f: can be installed sex. The developed machine humanizing nursing bed bed surface structure as shown in figure 1 shows, to realize J, seven basic nursing bed of posture pose demands that a flat, carry back, flexor/leg, SLR, left/right turn, sitting up and solution then, seven panel is independent of each other. Through the coordination between each bed panel, using single movement or movement way to realize nursing bed linkage of all kinds of pose of posture pose. Nursing bed with corresponding bed panel action such as table l.3. Each bed panel swing Angle is as follows: the backplane (posture), o. 10 750; Backplane (left/right emancipated), o. ~ + 65. ; The left/right hip board, O. ~ + 75. ; Thigh board, o. A + 35. ; Crus board, a 55 o ~ + 35. ; Solution will cover and O. A + 90. ．2 Robotic nanomanipulation nursing bed of the control system in order to facilitate nursing bed of intelligent control, timely r solution of the current working state nursing bed nursing bed, upon the law to set necessary processes the number of sensors "?. By analyzing the data, sensor transmission control system can real-time understand, control panel of motion, bed of different agencies to prevent the mutual interference or ask to overshoot driven motor bed body, unnecessary casualties caused damage. Control system overall structure as figure2shows. In bed in the control mode pose posture, besides using popular keyboard buttons input methods outside, in order to facilitate the weak and sick, but also increased the speech input mode + operators through the voice commands to manipulate nursing bed. Due to the common types of control chip difficult to complete the voice commands, because the recognition of the nursing bed the control system is divided into two major modules.
The first part primarily control module, it consists of a single-chip microcomputer control system structure, used to implement the nursing bed system, including the main control keyboard/voice control commands to accept the position signal and sensor input, and the output motor control signal etc, the second part as auxiliary control module, mainly for voice recognition and playback, it will come from the operator's voice control command into electrical signals, then through code conversion, transported to the master control module, and accept the electrical signals to independent control module, will these control instruction convert audio signals of operator can understand. 2.1 robotic nanomanipulation nursing bed master control module master control module at runtime receive signals from the keyboard/speech recognition circuit analysis and processing signal, through, will control signal through external interface conveying to speech playback circuit, signal by voice playback circuit will be transformed into voice signal, provide voice feedback signal, make handlers understand nursing bed real-time dynamic; On the other hand, master control module according to various signal command, control different motor running, so as to realize the lot that users period nursing bed functions? . Master control module mainly include the following each subroutine:
(1) keyboard input. The keyboard is nursing bed input control commands by one of the ways the keyboard input, by encoding commands sent to the primary panel by serial. (2) dc motor of the motor control. Nursing bed in accepting the keyboard or speech input signal after, started for the corresponding action to achieve nursing bed. This requires the expected function for installation in the main control panel can the nursing bed eight dc motor both the positive and negative direction of motor control. (3) sensor signal input. Position sensor motor sports location information feedback to control system, control system according to the feedback is returned to the current signal judgment motor sports location and condition, and then calling the corresponding procedure motion control 2.1.1 keyboard control circuit keyboard on the control board for user operation except r equipped with the keys outside, still configuration display the nursing bed the working state of indicator. Considering the keyboard and the communication and the main panel control cPu L / 0 mouths limited resources, so by a separate microcontroller keyboard to treat various task. Because the keyboard (2 x 6) and indicator light (8) required many I / 0 mouths resources, and chooses 89c2051 microcontroller only 15 L / 0 mouths, L/o u resources are limited, therefore in the SCM L / 0 mouths resource allocation, the single-chip computer keyboard panel serial communication between the main control board; Meanwhile, considering control cable is a certain length to increase the reliability of communication, communication, adopt the 232 level, so the hardware circuit MAx232 chips for added a convert. 2.1.2 dc motor level control of the nursing function is nursing bed by dc motor to execute, motor drive nursing bed to complete the various movements, in order to achieve various nursing pose, include: (1) the backplane elevate/drop; (2) left/right turn physique increase/decrease; (3) thigh board increase/decrease; (4) crus board increase/decrease; (5) flat open/close; bedpan (6) lie low postures realize/reset; (7) sitting postures realize/reset; (8) SLR postures realize/reset; (9) bended leg postures realize/reset. Above all appearance conversion between and finish all through eight dc motor FanZhuanLai to realize, so is the main control board must be able to receive commands to eight dc motor after on E reversal, namely can realize motor control negative in nursing bed to electrify control the hardware circuit design, for each motor has adopted two blades double throws on power control. The relay to 2.2 robotic nanomanipulation nursing bed auxiliary control module 2.2.1 speech recognition voice control technology is one of the existing control mode of advanced control mode, it is natural and convenient control mode, good affinity, the characteristics of applicability. Will voice control technology is introduced into the nursing bed under control, will greatly convenient users, particularly in those loss or partly losing activity, ability of self-dependence of patients, voice control and can help them enhance self-confidence, reduce dependence on others, add life courage and confidence in nursing bed users. The characteristics of the speech input commands, used in the study of the beauty of sENsORY company RSc364 little voice chip as recognition core chip. By training and realize Rsc364 chip speech recognition function, system L/o level is TrL level, which can be conveniently and other system for data transmission. Rsc364 chip inside integrated A speech recognition needs A variety of functions, it can complete speech recognition process of anti aliasing low-pass filter, sampling/keep, A/D conversion and voice recording Rsc364 chip in complete functions such as speech recognition task, will voice control signal output to SCM by chip Po and mouth. According to the PSc364 P1, the output state in the Lord with voice recognition chips control by A 74Lsl48 j Duan between expanding in tablet 74Lsl48 fracture, voice command input eight feet of the chip, connect Pl input mouth; Rsc364 Expansion of single chip [J Gs meet in P3.2; SCM fracture P1.3 P1. O ~ mouth and speech recognition chips J J 4 ~ Po Po seven connections. When a voice command input, a mouth wipes the P1 output low level, Gs u lose "I low-level startup microcontroller external interruption of single chip, the interrupt handlers from P1.0 ~ P1.3 mouth when read people data. Laws 2.2.2 voice playback master control circuit, after receiving orders in control motor running, but also to voice playback son module lose J 【 J voice control signal by auxiliary control module. To the current users provide voice feedback. Speech with the main function modules put the son is: nursing bed receive user commands, in nursing bed function action before the speech information broadcast corresponding action, remind users do physical preparation, this kind of humanized design further improved nursing bed by the affinity of IsD4003_08 chip. Speech playback as the principal chip. IsI) 4003 series work pressure is 3 V, tuen mun recording a single chip 8min" for 4 - time?. Chip adopt cMOs technology, containing oscillator, prevent confusion filter,
Smoothing filter, audio amplifiers, since the action pixels and high-density multilevel flashing storage arrays, operation orders at through serial communication interface input. 3 robotic nanomanipulation nursing bed nursing bed robotic nanomanipulation control program control mode is a simplified robot control system startup way. After the first test nursing bed, then test each pose, switch state of each key-press test again, if one of the keys pressed nursing bed, then makes the corresponding action and start speech playback program told the operator, through the control speech recognition is like that, if speech recognition module identification, operator a directive, likewise, nursing bed complete corresponding action. 4 closing the robot multiaxial coordinated control technique is applied in nursing bed, may to the robotic nanomanipulation nursing bed. The developed under effective control of the robotic nanomanipulation nursing bed as shown in figure 4 shows, it can achieve more bits of adjustment, and USES the posture voice commands and keyboard input two modes for control, easy and flexible. Moreover, the master control module USES a microcontroller, making the system operation r. flexible reliable, low cost. Currently developed nursing bed has in some hospitals trial, reflect good. Future research will set wipes on how to further improve the flexibility, coordination and system function of human development system, etc.